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climbing robot equipped with a work unit, and control system such climbing robots
climbing robot equipped with a work unit, and control system such climbing robots
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机译：装备有作业单元的攀爬机器人以及诸如攀爬机器人的控制系统
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摘要
climbing robot equipped with a work unit, of the type comprising: a chassis (1), which is referenced imaginarily three coordinate axes X, Y, Z, wherein the Xesta axis aligned with a direction of advance of said chassis ( 1) and the Z axis is directed towards a superficiede work (S) on which the robot moves: a first set of legs (2a, 2b) mounted movably linearly in the direction of Xrespecto axle to the chassis (1) and provided with a first coupling device by suction (3) adapted paraacoplar intermittently said first set of legs (2a, 2b) to the work surface (S), estandocada leg (2a, 2b) of the first set of legs (2a, 2b ) mounted extendable manner in the direction the axis Z towards the work surface (S), and retractable from it, relative to the chassis (1); a second set of legs (4) rotatably mounted around an axis parallel to Zrespecto the chassis (1) and having a second axis d ispositivo coupling suction (5) adapted paraacoplar intermittently said second set of legs (4) to the work surface (S); first and second means of activation connected to a suction source for activarselectivamente said first and second coupling devices suction (3, 5), first drive means for moving linearly the first set of legs (2a, 2b) respectoal chassis (1), second drive means for individually actuating an extension or retraction of each leg (2a, 2b) of first set of legs (2a, 2b) relative to the chassis (1), third drive means for rotating the second set of legs (4) relative to the chassis (1); ymedios control adapted to control the operation of said first and deactivation second means and said first, second and third drive means in coordination paradesplazar the chassis (1) in any direction on the surface d and work (S), wherein each dedichos first coupling devices suction (3, 5) comprises at least two suction cups (6) attached to a rocker (7) hingedly attached to one end of the corresponding leg (2a , 2b) of the first set of legs (2a, 2b) so as to be freely pivotable about an axis (8) parallel to axis Y; each tilting support (7) is connected a foot (9) located between said two suction cups (6) and configured ydispuesto to support on the work surface (S) when the two suction pads (6) are coupled to lasuperficie work (S); at least first and second sensor elements (10, 11) are respectively arranged in the first ysegundo separated points of the chassis (1) for detecting the distance in the Z axis direction from each first said unode and second points of the chassis (1) to the work surface (S) and send a señalesrepresentativas of said distances to said control means; according to these is signal the first and second sensor elements (10, 11), the means of controlcontrola the operation of the second drive means to level the chassis (1) in relacióncon the work surface (S) on the chassis (1) is installed a movable support supporting a work unit provistade a head (19) arranged to work on the work surface (S) through an opening (12) in the chassis (1), said mobile support device guide means and means for moving at least deaccionamiento said head (19) in the directions of the three axes coordenadosX, Y, Z and pivoting the head (19) around two axes X, Y within the opening (12); ycaracterizado by the first set of legs (2a, 2b) have a subset of front legs (2a) yun subset of rear legs (2b), and that the legs of one of said subsets of patasdelanteras and rear is mounted on respective devices guide (13) for a desplazamientolineal in the X axis direction relative to the legs of another of the subsets of front legs ytraseras, and elastic members (14) are arranged to push in opposite directions each haciauna leg middle zone of said device guide, effected such movement of the legs librementecontra force of said elastic members (14) in order to accommodate a variation in distanciaentre subsets of front and rear legs (2a, 2b) produced as a result of dichanivelación chassis (1) when the first suction coupling devices (3) are activated.
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